In recent years, the maintenance and inspection of old buildings have become important tasks for robots. Such robots are also expected to be used for search and rescue missions in the case of disasters. In our previous work, we developed a multi-legged robot for such tasks. In the current work, we focused on the task of climbing a vertical wall. We improved our previous robot and developed a flexible leg with a sucker to climb a wall.

[6] F. Matsuno and Y. Uo, “Current trends in research and development of rescue robot systems,” J. of The Institute of Electrical Engineers of Japan, Vol.129, No.4, pp. 232-236, 2009.

[7] R. R. Murphy, “International cooperation in deploying robots for disasters: Lessons for the future from the Great East Japan Earthquake,” J. of the Robotics Society of Japan, Vol.32, No.2, pp. 104-109, 2014.